From 18424f256b8053f9979db31e2d4b05ebf9afc227 Mon Sep 17 00:00:00 2001
From: nathan-gt <nathan.gt.protic@gmail.com>
Date: Wed, 30 Oct 2024 14:45:12 -0400
Subject: [PATCH] Trying to fix udevrules for vectornav Changed velodyne
 orientation to offset it 180deg. This will probably have an impact in the
 simulation in gazebo.

Adjusted the launch script to stop can bus on exit.

Disabled odrive id 24 rr_track (rear right track).

Disabled slam_3d to simplify testing.
---
 src/rove_bringup/config/vn_300.yaml                   | 2 +-
 src/rove_bringup/launch/common.launch.py              | 6 +++---
 src/rove_bringup/launch/real.launch.py                | 4 ++--
 src/rove_description/urdf/rove.urdf.xacro             | 2 +-
 src/rove_description/urdf/sensor.urdf.xacro           | 2 +-
 src/rove_launch_handler/scripts/launch_script.service | 1 +
 6 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/src/rove_bringup/config/vn_300.yaml b/src/rove_bringup/config/vn_300.yaml
index 2935fac..aefe1a3 100644
--- a/src/rove_bringup/config/vn_300.yaml
+++ b/src/rove_bringup/config/vn_300.yaml
@@ -5,7 +5,7 @@
 
 vectornav:
   ros__parameters:
-    port: "/dev/ttyUSB1" #  TODO: update this for rove
+    port: "/dev/ttyUSB0" 
     baud: 921600
     adjust_ros_timestamp: True
     reconnect_ms: 500
diff --git a/src/rove_bringup/launch/common.launch.py b/src/rove_bringup/launch/common.launch.py
index 4cb5818..5d29c37 100644
--- a/src/rove_bringup/launch/common.launch.py
+++ b/src/rove_bringup/launch/common.launch.py
@@ -94,7 +94,7 @@ def generate_launch_description():
         launch_arguments={
             'use_sim_time': use_sim_time,
             "deskewing": "true",
-            "use_slam3d": "true",
+            "use_slam3d": "false",
         }.items(),
     )
     
@@ -111,9 +111,9 @@ def generate_launch_description():
             robot_state_publisher,
             robot_localization_node_local,
             # robot_localization_node_global,
-            #navsat_transform,
+            navsat_transform,
             twist_mux,
             #rviz,
             teleop,
-            #autonomy,
+            autonomy,
             ])
diff --git a/src/rove_bringup/launch/real.launch.py b/src/rove_bringup/launch/real.launch.py
index 49dcd20..745ef8c 100644
--- a/src/rove_bringup/launch/real.launch.py
+++ b/src/rove_bringup/launch/real.launch.py
@@ -141,8 +141,8 @@ def create_controller_node(node_name:str):
             control_node,
             #TimerAction(period=20.0, actions=[
                 #gripper,
-                #vectornav,
-                #velodyne,
+            # vectornav,
+            velodyne,
                 #zed,
             #]),
             ])
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
index dec91b8..b5a3744 100644
--- a/src/rove_description/urdf/rove.urdf.xacro
+++ b/src/rove_description/urdf/rove.urdf.xacro
@@ -51,7 +51,7 @@
      <!-- Put these at -1 to mock the motors if working without the motors -->
     <!-- <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/> -->
     <!-- TODO Fix rr Odrive, it keeps crashing the rest of the drives. IT has been disabled for now. -->
-    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/>
+    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="-1"/>
 
 
     <!-- Insert ovis on top of rove -->
diff --git a/src/rove_description/urdf/sensor.urdf.xacro b/src/rove_description/urdf/sensor.urdf.xacro
index b250f45..116b5c1 100644
--- a/src/rove_description/urdf/sensor.urdf.xacro
+++ b/src/rove_description/urdf/sensor.urdf.xacro
@@ -78,7 +78,7 @@
         </collision>
     </link>
     <xacro:velodyne_lidar name="velodyne" parent_link="base_link">
-        <origin xyz="0.0 0.0 0.4" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 0.4" rpy="0 3.141592 0" />
     </xacro:velodyne_lidar>
     
     <gazebo reference="sensor_link">
diff --git a/src/rove_launch_handler/scripts/launch_script.service b/src/rove_launch_handler/scripts/launch_script.service
index 57cf45f..cc2b177 100755
--- a/src/rove_launch_handler/scripts/launch_script.service
+++ b/src/rove_launch_handler/scripts/launch_script.service
@@ -5,6 +5,7 @@ After=network.target
 [Service]
 Environment="ROS_LOG_DIR=/var/log/ros2; ROS_DOMAIN_ID=96"
 ExecStart=/bin/bash -c 'source /media/SSD/stable/rove/install/setup.bash; ip link set can0 up type can bitrate 500000; ros2 launch rove_launch_handler launch_handler.launch.py;'
+ExecStop=ip link set can0 down
 RemainAfterExit=no
 Restart=on-failure
 RestartSec=2s